mart/ev3/ex2/nl/ru/des/Main.java

   1 package nl.ru.des;
   2
   3 import lejos.hardware.ev3.EV3;
   4 import lejos.hardware.ev3.LocalEV3;
   5 import lejos.hardware.lcd.Font;
   6 import lejos.hardware.lcd.LCD;
   7 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   8 import lejos.hardware.port.MotorPort;
   9 import lejos.hardware.sensor.EV3ColorSensor;
  10 import lejos.robotics.subsumption.Arbitrator;
  11 import lejos.robotics.subsumption.Behavior;
  12
  13 public class Main {
  14         public static Arbitrator arbitrator;
  15
  16         public static void main(String[] args) {
  17                 EV3 brick = LocalEV3.get();
  18                 LCDPrinter lcdprinter = new LCDPrinter(brick.getGraphicsLCD(), Font.getSmallFont());
  19
  20                 /*
  21                  * Start the slave first. "Socket is 18" is always displayed, we can just ignore this
  22                  */
  23                 //BTMemory.getBTMemory(false, "Rover2");
  24                 BTMemory.getBTMemory(true, "Rover1");
  25                 LCDPrinter.print("Robots are connected");
  26
  27                 LCDPrinter.print("Starting up systems");
  28                 lcdprinter.start();
  29
  30                 LCDPrinter.print("Loading keylistener...");
  31                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  32
  33                 LCDPrinter.print("Loading motors...");
  34                 EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
  35                 EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  36                 leftMotor.setSpeed(200);
  37                 rightMotor.setSpeed(200);
  38                 rightMotor.setAcceleration(1000);
  39                 leftMotor.setAcceleration(1000);
  40
  41 //              LCDPrinter.print("Loading touch sensors...");
  42 //              EV3TouchSensor leftTouch = new EV3TouchSensor(brick.getPort("S1"));
  43 //              EV3TouchSensor rightTouch = new EV3TouchSensor(brick.getPort("S4"));
  44                 LCDPrinter.print("Loading color sensor...");
  45                 EV3ColorSensor colorSensor = new EV3ColorSensor(brick.getPort("S2"));
  46                 ColorSensor colorSensorObject = new ColorSensor(colorSensor);
  47
  48 //              LCDPrinter.print("Loading ultrasone sensor...");
  49 //              EV3UltrasonicSensor ultraSensor = new EV3UltrasonicSensor(brick.getPort("S3"));
  50
  51                 LCDPrinter.print("Initializing behaviours...");
  52                 Behavior[] behaviorList = new Behavior[] {
  53                                 new WandererBehaviour(colorSensorObject, leftMotor, rightMotor),
  54                                 new StayInFieldBehaviour(colorSensorObject, leftMotor, rightMotor)
  55                 };
  56
  57
  58                 LCDPrinter.print("Initializing arbitrator...");
  59                 Main.arbitrator = new Arbitrator(behaviorList);
  60                 Main.arbitrator.start();
  61                 LCDPrinter.print("Takeoff!");
  62                 colorSensor.close();
  63 //              ultraSensor.close();
  64         }
  65 }